Pure C++ implementation of the NDT-matching algorithm.

A lightweight Social Force Model library

Lightweight LiDAR-Inertial SLAM system for ROS 2. A minimal, dependency-free implementation for research and education.

Practicing using octomap

A simulator of human navigation behaviors for Robotics based on ROS2

ROS2-based navigation and mapping package using Nav2 and STVL plugin.

This repository is used for automatic calibration between high resolution LiDAR and camera in targetless scenes.

ROS packages for geographic information

Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

[ICRA2024] Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles

Point cloud registration pipeline for robot localization and 3D perception

kalmal filter localization ros2

Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light

ROS implementation of DWA(Dynamic Window Approach) Planner

MPPI経路計画

You Only Look Once for Panopitic Driving Perception.（MIR2022）

Intersection vs Non-Intersection Calssfication based on Images/Videos

Real-time 3D localization using a (velodyne) 3D LIDAR

System built on ROS2 Humble distribution to utilize NTRIP for a RTK Global Navigation Satelite System (GNSS)

UrbanNav: an Open-Sourcing Localization Data Collected in Asian Urban Canyons, Including Tokyo and Hong Kong

Quatro as a module from official repo - Fast and robust global registration for terrestrial robots @ 2023 IJRR / ICRA2022